CN103010230A - Train unmanned system and method - Google Patents

Train unmanned system and method Download PDF

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Publication number
CN103010230A
CN103010230A CN2012105768738A CN201210576873A CN103010230A CN 103010230 A CN103010230 A CN 103010230A CN 2012105768738 A CN2012105768738 A CN 2012105768738A CN 201210576873 A CN201210576873 A CN 201210576873A CN 103010230 A CN103010230 A CN 103010230A
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CN
China
Prior art keywords
train
automatic
personal vehicle
protection
control
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CN2012105768738A
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Chinese (zh)
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CN103010230B (en
Inventor
牛英明
肖骁
宝晓光
娄玥童
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北京交控科技有限公司
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Priority to CN201210576873.8A priority Critical patent/CN103010230B/en
Publication of CN103010230A publication Critical patent/CN103010230A/en
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Publication of CN103010230B publication Critical patent/CN103010230B/en

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Abstract

The invention discloses a train unmanned system and a train unmanned method, belonging to the field of traffic control. The system comprises a sensor, an automatic train protecting system connected with the sensor, a train-mounted recording system connected with the automatic train protecting system, an automatic train driving system connected with the automatic train protecting system, and a man-machine interaction system connected with the automatic train protecting system. By utilizing the system and the method, the precise control on the unmanned operation process of a train is realized, misoperation caused by artificial factors is reduced, the interference resistance is good, the working intensity of drivers is reduced, the security in train operation is improved, the departure interval of trains is shortened, and the operation efficiency of train routes is improved.

Description

A kind of train Unmanned Systems and method
Technical field
The present invention relates to the track traffic control field, particularly a kind of train Unmanned Systems and method.
Background technology
The vehicle-mounted signal device of present domestic most subway lines has been realized people's automatic Pilot; having under people's automatic driving mode; automatic train protection system (ATP) is responsible for the protection train traffic safety; section operation is finished by train personal vehicle system (ATO); the operation of stopping is finished jointly by ATO and driver; ATO starts and to be finished by the driver in standing, and turns back and is finished or ATO and driver finish jointly by the driver.
Under the protection of ATP, automatic Pilot can reduce driver's labour intensity, improves train operation efficiency, shortens the subway circulation interval, improves ride quality, improves stopping accuracy.
Someone does not free the driver by automatic Pilot fully from labor operation, the operation such as turn back of launch train, platform switch gate, train still needs the driver manually to finish, and train operation efficiency is exerted a certain influence.For manually finishing above-mentioned operation, the two driver's systems of the more employing of domestic subway line, train driving is carried out or monitored to main driver responsible, secondary driver Fu Ze lookout and ensure passenger getting on/off safety when stopping operation, and two driver's systems have greatly improved operation cost and the staff training cost of subway line.
Summary of the invention
The technical matters that (one) will solve
The technical problem to be solved in the present invention is: how a kind of train Unmanned Systems and method are provided, in order to realize the accurate control to train, improve train safe, reduce the working strength of chaufeur.
(2) technical scheme
For solving the problems of the technologies described above, the invention provides a kind of train Unmanned Systems, comprising:
Sensor for detection of the status information of train, and sends to automatic train protection system with described status information;
Be connected the automatic train protection system that sensor connects, be used for described status information is analyzed and to train personal vehicle system sending controling instruction;
Be connected the vehicle-mounted recording system that automatic train protection system connects, be used for recording described status information;
Be connected the train personal vehicle system that automatic train protection system connects, be used for moving according to setting program according to described control command control train;
Be connected the man-machine interactive system that automatic train protection system connects, be used for showing the train running state information, and according to human-machine interactive information control train.
A kind of train driverless operation method is characterized in that, the method may further comprise the steps:
S1: the status information of described sensor measurement train sends to described automatic train protection system with described status information;
S2: described automatic train protection system sends to described vehicle-mounted recording system with described status information;
S3: described automatic train protection system is analyzed described status information, controls described train personal vehicle system according to analysis result train is controlled automatically, and described man-machine interactive system shows the described status information of train.
Described step S3 is specially:
When described status information meets the following conditions, start described train personal vehicle system train is controlled automatically: a, train speed are zero, and Train door is closed and locking; B, the current manual drive pattern that is in of train; The described train personal vehicle system of c, train and described automatic train protection system trouble free; D, current the arranging of train allow described train personal vehicle system that train is controlled automatically;
When described status information meets the following conditions, train is implemented emergency braking immediately, man-machine interactive system continued to show failure message before fault was got rid of, emergency braking was alleviated after fault was got rid of, after emergency braking is alleviated, when described train personal vehicle system satisfied entry condition, described automatic train protection system is controlled described train personal vehicle system and again started: a, train mobile authorization withdrew; B, train receive that in the platform zone platform screen door is opened or emergency stop push button is pressed.
Described step S3 also comprises:
Below described status information satisfies during arbitrary condition, described train personal vehicle system withdraws from the automatic control to train immediately, and by described man-machine interactive system driver: a, interrupt described train personal vehicle system to the automatic control of train by described man-machine interactive system; B, described train personal vehicle system or described sensor break down; C, Train door can't normally be closed; D, the current setting of train do not allow described train personal vehicle system to continue train is controlled automatically; E, train system are reported the fault that train can't continue to travel to automatic train protection system; F, platform stopping accuracy can't satisfy the requirement that the continuation of train personal vehicle system is controlled automatically to train; G, the same day, the train operation task all finished;
When described status information meets the following conditions, withdraw from the automatic control to train before described train personal vehicle system control train is turned back, and be not driverless operation by the driving model of described man-machine interactive system driver: a, train tail end; The automatic train protection system of b, train tail end or the breakdown of equipment of train personal vehicle system; The automatic train protection system of c, train tail end and train personal vehicle system communication failure;
When described status information met the following conditions, the automatic control to train was withdrawed from the described train personal vehicle system control train next stop, and by described man-machine interactive system driver: a, and automatic train monitor communication failure; B, stop position deviation are excessive.
Described step S3 also comprises:
Judge the position of train by described status information, when the train process enters the station the position, described train personal vehicle system control train is parked in specifies passenger's boarding position, through T1 rank rear second car door opening, at front T2 closing of the door second of described train personal vehicle system control launch train, described train personal vehicle system is automatically controlled train and is rolled the station away from and train is travelled with setting speed.
Described step S3 also comprises:
Turn back after train driving comes to a complete stop to the position of turning back and change the end operation, change the automatic train protection system of the front train head end of end the train operation state information exchange is crossed train head and the tail communication hand-over to the automatic train protection system of train tail end, the automatic train protection system of described tail end is finished the handing-over of Train Control power after receiving handover information, after obtaining mobile authorization, if satisfy entry condition, then control described train personal vehicle system startup and roll the position of turning back away from.
Train is parked between the moment of described appointment passenger boarding position and moment that described train rolls the station away from and is setting-up time.
Described entering the station is set with at least one position reference point between position and the described appointment passenger boarding position, and it is the control train speed that described position reference point is used for described train automatic Pilot.
When the train process enters the station the position, described train personal vehicle system control train is parked in specifies passenger's boarding position to be specially: when the train process enters the station the position, described train personal vehicle system is inquired about the position and specify distance between passenger's boarding position of entering the station at current station, and detect the train present speed, making described train present speed by the setting acceleration/accel is zero in described appointment passenger boarding position.
Distance between the actual stop position of described appointment passenger boarding position and train is during greater than setpoint distance, described train personal vehicle system is automatically controlled train and is reentered described appointment passenger boarding position, until the distance between the stop position of described appointment passenger boarding position and train is less than setpoint distance.
(3) beneficial effect
The train status information that Unmanned Systems of the present invention detects according to sensor, the running state that can reflect in real time train, can detect in real time the hidden failures of train, hidden failures is made a response in advance, for the practical operation situation of train fault be processed; The status information of vehicle-mounted recording system log (SYSLOG) train is convenient to follow-up analysis to train operation state; Judge the operation conditions of train by automatic train protection system, send control command control train personal vehicle system train is controlled automatically; Realize the information interaction of chaufeur and train by man-machine interactive system.Unmanned Systems of the present invention can carry out the master mode conversion with existing train system, has increased the control type to train, has strengthened the adaptive capacity of train to the highway section; Speed by reference by location spot control train is evenly slowed down, and has improved traveling comfort and safety that the passenger rides; The present invention has realized the accurate control of train driverless operation operational process has been reduced the maloperation of human element, and anti-interference resistance is good, has reduced the working strength of chaufeur, has improved the safety of train operation.
The present invention has realized the full-automatic driving of train in the operation overall process, need not artificial participation, and the crew member only just need to carry out manual intervention to train driving in breakdown of equipment or urgent disaster scenarios it.The present invention can compatible man-manageable system, and can realize the online switching of Unmanned Systems and man-manageable system, has guaranteed can continue operation with degraded mode under the failure condition; Can be according to line facility configuration and local operation regulation, the processing degree of automation in the config failure situation is to adapt to the specific national conditions of domestic high density large conveying quantity train operation; Can when guaranteeing on schedule, by the driving strategy of online adjustment train automatic controlling system, save the energy that train traction consumes.
Description of drawings
Fig. 1 is structural representation of the present invention;
Fig. 2 is train main track driverless operation cab signal control system Organization Chart.
The specific embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following examples are used for explanation the present invention, but are not used for limiting the scope of the invention.
In order to realize the driverless operation operation of train, reduce the working strength of chaufeur, the present invention proposes a kind of train Unmanned Systems and method.
Structural representation of the present invention as shown in Figure 1, system of the present invention comprises:
(1) sensor for detection of the status information of train, and sends to automatic train protection system with described status information;
(2) automatic train protection system and is connected sensor and is connected, and is used for described status information is analyzed and to train personal vehicle system sending controling instruction; The train system of being connected with train connects, and can realize other master mode conversions of driverless operation pattern and train;
Automatic train protection system (ATP) is the core control equipment of onboard system, and the ATP system is that traffic safety and the train driving (driver or equipment automatic Pilot) of train provides auxiliary and supervision, prevents because the caused collision of the hostile operation of train; Prevent owing to the accidents such as improper car door opening, backing-out are caused danger the passenger; Prevent because train surpasses limited speed or command speed for causing train to be caused danger or circuit being caused damage.In the travelling of automatic control train, to be responsible for controlling the train personal vehicle system by ATP and to start, the control man-machine interactive system shows, finishes entering and withdrawing from the driverless operation operation, finishes the section of turning back and return operation.And communicate with ground ATP, automatic train monitor (ATS), vehicle management system, set up the movable block runlevel; Automatic train protection system also is connected train system and is connected with train, be used for realizing the conversion of driverless operation of the present invention and the original master mode of train or the information of reception train system; Have train system and train Unmanned Systems's of the present invention annexation now as shown in Figure 2, Fig. 2 is train main track driverless operation cab signal control system Organization Chart.
(3) vehicle-mounted recording system and is connected automatic train protection system and connects, and is used for the described status information that detects by automatic train protection system record sensor;
The function that the vehicle-mounted recording system mainly realizes is record sensing data, fault alarm data, and data are offered service personnel carries out follow-up analysis, processing.The vehicle-mounted recording system also is used for running state and the failure message of record train driverless operation process.
(4) train personal vehicle system and is connected automatic train protection system and is connected, and is used for moving according to setting program according to described control command control train;
Train personal vehicle system (ATO) is that onboard system is controlled realization equipment automatically, main practical function is speed, the distance according to current train, consider the information such as circuit speed limit, ATS control command, under the protection of ATP, the control train safe, comfortable, travel efficiently.Obtain train accurately speed and position by communicating by letter with the common position fixing system that tests the speed of ATP.ATO is to the instruction of vehicle output traction braking, control Vehicle Driving Cycle.Automatically controlling in the driving, ATO realizes train interval operation, the operation of stopping, departures startup, the automation of turning back and moving.
(5) man-machine interactive system and is connected automatic train protection system and is connected, and is used for showing the train running state information, also can receive the information of chaufeur input; The information of chaufeur input is sent to automatic train protection system, and then so that the running state of automatic train protection system control train.
Man-machine interactive system is the interactive interface between all mobile units and the chaufeur, and it can be shown to chaufeur by read-out with various crucial operation information, vehicle-state, the operation information of train, provides key message prompting or warning by buzzer phone; Simultaneously, can receive driver's input operation order and be transmitted to ATP by touch-screen, the auxiliary functions such as operation information input, set of time, vehicle daily test of finishing.In the driverless operation process, man-machine interactive system provides to chaufeur and enters and withdraw from unpiloted confirmation, the switching of driverless operation pattern and other patterns, and set up the condition does not satisfy or the information of fault.
Train driverless operation method according to said system may further comprise the steps:
S1: the status information of described sensor measurement train sends to described automatic train protection system with described status information;
S2: described automatic train protection system sends to described vehicle-mounted recording system with described status information;
S3: described automatic train protection system is analyzed described status information, controls described train personal vehicle system according to analysis result train is controlled, and described man-machine interactive system shows the described status information of train.Man-machine interactive system can be interrupted the automatic control of train when listing when breaking down or needing the manual control train, directly control train by chaufeur.
(1) when described status information meets the following conditions, start described train personal vehicle system train controlled:
A, train speed are zero, and Train door is closed and locking;
B, the current manual drive pattern that is in of train;
The described train personal vehicle system of c, train and described automatic train protection system trouble free;
D, current the arranging of train allow described train personal vehicle system that train is controlled automatically;
The visual actual conditions of above condition increase or change.
Realize that by an embodiment train Unmanned Systems is specially Train Control:
Judge the position of train by described status information, when the train process enters the station the position, described train personal vehicle system control train is parked in specifies passenger's boarding position, 3 seconds rank rear car door openings, front 3 seconds closing of the doors at described train personal vehicle system control launch train, described car door opening and described closing of the door are reminded by the tinkle of bells, if sensor breaks down when detecting car door opening or closing of the door, then by automatic train protection system failure message is sent to man-machine interactive system, driver checks.Described train personal vehicle system control train rolls the station away from and train is travelled with setting speed.Described entering the station is setpoint distance between position and the described appointment passenger boarding position, approach line angle, platform length or other conditions difference because of each station in the reality, enter the station position and specify passenger's boarding position to need to set as the case may be, distance between the two is also just different.Described train is parked in specifies passenger boarding position and described train to roll away to be setting-up time between the station, and the passenger flow volume at station has uncertainty, so the parking period of train need to be set according to actual conditions.Described entering the station has at least one position reference point between position and the described appointment passenger boarding position, and being used for described train automatic Pilot is the control train speed, to guarantee passenger's by bus safety and ride comfort.
When the train process enters the station the position, described train personal vehicle system is inquired about the position and go out distance between the station location of entering the station at current station, and detect the train present speed, making described train present speed by the setting acceleration/accel is zero in described appointment passenger boarding position.For guaranteeing traffic safety and passenger safety, acceleration/accel generally is set as the pattern of at the uniform velocity successively decreasing, and also can be set up on their own by the train personal vehicle system according to actual conditions.
Distance between the actual stop position of described appointment passenger boarding position and train is during greater than setpoint distance, described train personal vehicle system control train reenters described appointment passenger boarding position, until the distance between the stop position of described appointment passenger boarding position and train is less than setpoint distance.When reentering out station location and surpass No. 3 trains and still be not parked in the setpoint distance, stop to passenger's boarding position by man-machine interactive system driver manual drive train.
(2) below described status information satisfies during arbitrary condition, described train personal vehicle system withdraws from the automatic control to train immediately, and by described man-machine interactive system driver:
A, interrupt described train personal vehicle system to the automatic control of train by described man-machine interactive system;
B, described train personal vehicle system or described sensor break down;
C, Train door are not normally closed;
D, the current setting of train do not allow described train personal vehicle system to continue train is controlled automatically;
E, train system are reported the fault that train can't continue to travel to automatic train protection system;
F, platform stopping accuracy can't satisfy the requirement that the continuation of train personal vehicle system is controlled automatically to train;
G, the same day, the train operation task all finished.
The visual actual conditions of above condition increase or change.Below describe by two kinds of situations:
A. the train section of returning withdraws from the driverless operation pattern: come to a complete stop at the train section of returning conversion rail, ATP control man-machine interactive system prompting driver confirms to withdraw from driverless operation and returns section, to be confirmed after, by the chaufeur pilot steering train section of returning.
B. fault withdraws from the driverless operation pattern: when barrier need to withdraw from the driverless operation pattern for some reason, ATP control man-machine interactive system shows the information of " confirming that driverless operation withdraws from ", and show the fault cause that causes the driverless operation pattern to withdraw from, wait for that simultaneously the driver presses acknowledge button.After the driver pressed acknowledge button, system withdrawed from the driverless operation pattern, transferred someone to and drove.According to fault type, need to implement emergency braking in the part situation, need to rebulid the movable block runlevel after withdrawing from the driverless operation pattern in the part situation.
When withdrawing from the driverless operation pattern because of any reason, the vehicle-mounted recording system is recorded in time and the reason that withdraws from the non-volatile memory medium.
When (3) one of following fault (can be configured according to the operation demand) occurring, continue to maintain the driverless operation mode operation, ATP implements emergency braking immediately, man-machine interactive system continued to show failure message before fault was got rid of, emergency braking was alleviated after fault was got rid of, after emergency braking was alleviated, when ATO satisfied entry condition, ATP control ATO restarted:
1. the train mobile authorization withdraws;
2. train is received the state that platform screen door is opened or emergency stop push button is pressed in the platform zone;
When one of following fault (can be configured according to the operation demand) occurring, after keeping the driverless operation mode operation and coming to a complete stop to the position of turning back, do not turn back, the driverless operation pattern is withdrawed from prompting, and by described man-machine interactive system driver, transfer manual drive to after withdrawing from the driverless operation pattern.If withdraw from the reparation of driverless operation pattern prior fault, then continue to keep the driverless operation mode operation, can turn back and change end:
1. the default driving model of train tail end is not driverless operation;
2. train tail end ATP or ATO breakdown of equipment;
3. train tail end ATP and ATO communication failure;
When one of following fault (can be configured according to the operation demand) occurring, after keeping the driverless operation mode operation and coming to a complete stop to next operation platform or the position of turning back, driverless operation pattern and by described man-machine interactive system driver is withdrawed from prompting, transfers manual drive to after withdrawing from the driverless operation pattern.If withdraw from the reparation of driverless operation pattern prior fault, then continue to keep the driverless operation mode operation:
1. with the ATS communication failure.
When one of following fault (can be configured according to the operation demand) occurring, need immediately prompting to withdraw from the driverless operation pattern, withdraw from and transfer manual drive after the driverless operation pattern to:
2. the stop position deviation is excessive.
When one of following fault (can be configured according to the operation demand) occurring, need implement immediately emergency braking, need immediately prompting to withdraw from the driverless operation pattern after train comes to a complete stop, transfer manual drive to after withdrawing from the driverless operation pattern, withdraw from the driverless operation pattern before emergency braking can not alleviate:
1.ATO apply tractive force/braking force unusual or with the vehicle management system communication failure;
2. head and the tail devices communicating fault;
3. head end ATO breakdown of equipment;
4. communication failure between head end ATP and ATO;
Also there is following situation in the reality:
Train under the driverless operation pattern is turned back:
Equipment comes to a complete stop with driverless operation pattern control train driving to the position of turning back, if there is not the fault that need to withdraw from the driverless operation pattern, then turn back and change the end operation, change the front head end ATP of end the train operation state information exchange is crossed the head and the tail communication hand-over to tail end, tail end is after receiving handover information, and head and the tail are finished the handing-over of Train Control power, after obtaining mobile authorization, if ATO satisfies entry condition, then control the ATO startup and roll the position of turning back away from.
Communications status supervision under the driverless operation pattern:
Automatically under pattern was turned back in control, ATP need to continue to keep communications status with ATS, ground ATP, vehicle management system, applies the crucial operation informations such as state with reception traffic control, mobile authorization, traction braking.If the communication failures such as communication overtime, communication message be invalid occur, then withdraw from the driverless operation pattern.ATP continues to report the status information of driverless operation pattern to ATS, ground ATP, vehicle management system simultaneously.
Automatically dispatching a car under the driverless operation pattern:
Under the driverless operation pattern, ATO judges the non-security conditions of dispatching a car such as dwell time ends, and ATP judgement mobile authorization, platform screen door such as close at the condition of dispatching a car of safety, when the condition of dispatching a car of ATP, ATO all satisfies,, automatically dispatched a car by ATO control train to the ATO order of dispatching a car by ATP.
Accurate parking under the driverless operation pattern:
Under the driverless operation pattern, ATO guarantees at inlet parking, turns back, the accurate parking when returning section, thereby guarantee to stop operation, the operation of turning back, returns normally carrying out of section operation.If accurately do not stop because unforeseen circumstances causes train, ATO control train is again to attempt accurately parking than low velocity (for example 5km/h), if still can't stop standard, then report " accurately the stop position deviation is excessive " fault to ATP, and inform that by man-machine interactive system chaufeur manually stops.
Adjust the degree of automation of driverless operation pattern according to actual track running condition:
The set up the condition of driverless operation pattern and fault Rule of judgment can be configured according to actual track running condition, to satisfy different circuits for the different needs of equipment configuration and degree of automation.
For example, the set up the condition of configuration driverless operation pattern and fault Rule of judgment be not for checking two ends switch gate mode, then in actual operation, the switch gate mode can be made as " open Door by Hand and manually close the door " or " automatic door opening and manually close the door ", more up and down with passenger during satisfying the large conveying quantity circuit and stopping, the manual control lockup is to guarantee the passenger getting on/off security needs.
For example, the set up the condition of configuration driverless operation pattern and fault Rule of judgment be not for checking the ATO entry condition, ATP does not control the ATO startup simultaneously, then in reality operation still by manual activation ATO, guarantee departures safety to satisfy non-complete closed circuit, by the artificial needs such as dwell time adjust operation plan that prolong.
For example, the set up the condition of configuration driverless operation pattern and fault Rule of judgment be not for checking the state with ATS, then in actual operation, allow ATS to need not to keep communicating by letter with mobile unit, mobile unit is not when communicating by letter with ATS, drive train with the up-to-date operational plan that obtains before, in conjunction with artificial prolongation dwell time adjust operation plan, reduced the requirement to real-time communication, the needs of opening to satisfy part circuit reduction input cost or segmentation.
The present invention has following advantage:
1. the present invention has realized the full-automatic driving of train in the operation overall process, need not artificial participation, and the crew member only just need to carry out manual intervention to train driving in breakdown of equipment or urgent disaster scenarios it.Simultaneously the existing equipment of compatible train has the people manually to drive and people's automatic driving mode is arranged, and during the main track operation, can switch fast between driverless operation pattern and other driving models, has guaranteed can continue move with degraded mode under the failure condition;
2. but the part driverless operation is set up and the cutting of fault Rule of judgment, is used for regulating the gentle requirement to the line facility configuration of unpiloted Automated water, the needs of runing with the actual track that satisfies domestic high density large conveying quantity train operation.
3. comfortable, efficient, energy-conservation, can under the prerequisite that guarantees on schedule rate, at utmost utilize the energy-conservation characteristic of coasting according to the strategy that travels between the in real time automatic regulatory region of the circuit practical operation situation that ATS provides, improve simultaneously comfort of passenger.
Above embodiment only is used for explanation the present invention; and be not limitation of the present invention; the those of ordinary skill in relevant technologies field; in the situation that do not break away from the spirit and scope of the present invention; can also make a variety of changes and modification; therefore all technical schemes that are equal to also belong to category of the present invention, and scope of patent protection of the present invention should be defined by the claims.

Claims (10)

1. train Unmanned Systems comprises:
Sensor for detection of the status information of train, and sends to automatic train protection system with described status information;
Be connected the automatic train protection system that sensor connects, be used for described status information is analyzed and to train personal vehicle system sending controling instruction;
Be connected the vehicle-mounted recording system that automatic train protection system connects, be used for recording described status information;
Be connected the train personal vehicle system that automatic train protection system connects, be used for moving according to setting program according to described control command control train;
Be connected the man-machine interactive system that automatic train protection system connects, be used for showing the train running state information, and according to human-machine interactive information control train.
2. a train driverless operation method of utilizing the described system of claim 1 is characterized in that, the method may further comprise the steps:
S1: the status information of described sensor measurement train sends to described automatic train protection system with described status information;
S2: described automatic train protection system sends to described vehicle-mounted recording system with described status information;
S3: described automatic train protection system is analyzed described status information, controls described train personal vehicle system according to analysis result train is controlled automatically, and described man-machine interactive system shows the described status information of train.
3. method as claimed in claim 2 is characterized in that, described step S3 is specially:
When described status information meets the following conditions, start described train personal vehicle system train is controlled automatically: a, train speed are zero, and Train door is closed and locking; B, the current manual drive pattern that is in of train; The described train personal vehicle system of c, train and described automatic train protection system trouble free; D, current the arranging of train allow described train personal vehicle system that train is controlled automatically;
When described status information meets the following conditions, train is implemented emergency braking immediately, man-machine interactive system continued to show failure message before fault was got rid of, emergency braking was alleviated after fault was got rid of, after emergency braking is alleviated, when described train personal vehicle system satisfied entry condition, described automatic train protection system is controlled described train personal vehicle system and again started: a, train mobile authorization withdrew; B, train receive that in the platform zone platform screen door is opened or emergency stop push button is pressed.
4. method as claimed in claim 2 is characterized in that, described step S3 also comprises:
Below described status information satisfies during arbitrary condition, described train personal vehicle system withdraws from the automatic control to train immediately, and by described man-machine interactive system driver: a, interrupt described train personal vehicle system to the automatic control of train by described man-machine interactive system; B, described train personal vehicle system or described sensor break down; C, Train door can't normally be closed; D, the current setting of train do not allow described train personal vehicle system to continue train is controlled automatically; E, train system are reported the fault that train can't continue to travel to automatic train protection system; F, platform stopping accuracy can't satisfy the requirement that the continuation of train personal vehicle system is controlled automatically to train; G, the same day, the train operation task all finished;
When described status information meets the following conditions, withdraw from the automatic control to train before described train personal vehicle system control train is turned back, and be not driverless operation by the driving model of described man-machine interactive system driver: a, train tail end; The automatic train protection system of b, train tail end or the breakdown of equipment of train personal vehicle system; The automatic train protection system of c, train tail end and train personal vehicle system communication failure;
When described status information met the following conditions, the automatic control to train was withdrawed from the described train personal vehicle system control train next stop, and by described man-machine interactive system driver: a, and automatic train monitor communication failure; B, stop position deviation are excessive.
5. method as claimed in claim 2 is characterized in that, described step S3 also comprises:
Judge the position of train by described status information, when the train process enters the station the position, described train personal vehicle system control train is parked in specifies passenger's boarding position, through T1 rank rear second car door opening, at front T2 closing of the door second of described train personal vehicle system control launch train, described train personal vehicle system is automatically controlled train and is rolled the station away from and train is travelled with setting speed.
6. method as claimed in claim 2 is characterized in that, described step S3 also comprises:
Turn back after train driving comes to a complete stop to the position of turning back and change the end operation, change the automatic train protection system of the front train head end of end the train operation state information exchange is crossed train head and the tail communication hand-over to the automatic train protection system of train tail end, the automatic train protection system of described tail end is finished the handing-over of Train Control power after receiving handover information, after obtaining mobile authorization, if satisfy entry condition, then control described train personal vehicle system startup and roll the position of turning back away from.
7. method as claimed in claim 5 is characterized in that, train is parked between the moment of described appointment passenger boarding position and moment that described train rolls the station away from and is setting-up time.
8. method as claimed in claim 5 is characterized in that, described entering the station is set with at least one position reference point between position and the described appointment passenger boarding position, and it is the control train speed that described position reference point is used for described train automatic Pilot.
9. method as claimed in claim 5, it is characterized in that, when the train process enters the station the position, described train personal vehicle system control train is parked in specifies passenger's boarding position to be specially: when the train process enters the station the position, described train personal vehicle system is inquired about the position and specify distance between passenger's boarding position of entering the station at current station, and detect the train present speed, making described train present speed by the setting acceleration/accel is zero in described appointment passenger boarding position.
10. method as claimed in claim 4, it is characterized in that, distance between the actual stop position of described appointment passenger boarding position and train is during greater than setpoint distance, described train personal vehicle system is automatically controlled train and is reentered described appointment passenger boarding position, until the distance between the stop position of described appointment passenger boarding position and train is less than setpoint distance.
CN201210576873.8A 2012-12-26 2012-12-26 Train unmanned system and method CN103010230B (en)

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CN103670114A (en) * 2013-11-25 2014-03-26 唐山轨道客车有限责任公司 Control method and device for train door
CN104340236A (en) * 2014-10-24 2015-02-11 北京交控科技有限公司 Automatic train operation (ATO) control system of straddle monorail train
CN104354728A (en) * 2014-11-03 2015-02-18 北京交控科技有限公司 Track traffic train monitoring system based on remote MMI (Man-Machine interface)
WO2015041593A1 (en) * 2013-09-17 2015-03-26 Scania Cv Ab Method and system for managing the take-off of a motor vehicle
CN104503272A (en) * 2014-11-20 2015-04-08 北京交控科技有限公司 Automatic train driving system based on double-system hot standby redundancy
CN105235714A (en) * 2015-10-29 2016-01-13 南车资阳机车有限公司 A driver-less goods transport system and transport method
CN105329266A (en) * 2015-10-30 2016-02-17 北京交控科技有限公司 Train starting and braking control method
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CN105774849A (en) * 2014-12-24 2016-07-20 上海申通轨道交通研究咨询有限公司 Train control method based on working condition
CN105955253A (en) * 2016-04-20 2016-09-21 郑州宇通客车股份有限公司 Method and system for controlling turn lights and vehicle doors of autonomous driving vehicle
CN106043309A (en) * 2016-06-27 2016-10-26 常州加美科技有限公司 Coping strategy for shifting driving patterns of unmanned vehicle
CN106394537A (en) * 2016-10-31 2017-02-15 中车株洲电力机车有限公司 Heavy haul train and control method and system of heavy haul train brake
CN106697003A (en) * 2016-12-15 2017-05-24 天津交控科技有限公司 Rail vehicle brake fault safe handling method
CN106828512A (en) * 2016-12-21 2017-06-13 吴中区穹窿山倪源交通器材经营部 A kind of train Unmanned Systems
CN107168198A (en) * 2017-05-12 2017-09-15 武汉理工大学 A kind of active intervention type method for controlling intelligent wheelchair and device
CN107650951A (en) * 2017-10-30 2018-02-02 成都九壹通智能科技股份有限公司 A kind of subway train telesecurity monitoring management system
CN108609037A (en) * 2018-04-12 2018-10-02 浙江众合科技股份有限公司 A kind of automatic recurving control method of crewless train
CN108874493A (en) * 2018-06-20 2018-11-23 青岛海信网络科技股份有限公司 A kind of ATS method for showing interface and device based on comprehensive monitoring platform
CN109305197A (en) * 2017-07-26 2019-02-05 比亚迪股份有限公司 Train control method, system and Vehicle Controller
CN110539757A (en) * 2018-11-29 2019-12-06 中车长春轨道客车股份有限公司 high-speed train operation control method and system
WO2020155803A1 (en) * 2019-01-29 2020-08-06 中车长春轨道客车股份有限公司 Railway train operation control method and system

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WO2015041593A1 (en) * 2013-09-17 2015-03-26 Scania Cv Ab Method and system for managing the take-off of a motor vehicle
CN103670114B (en) * 2013-11-25 2016-02-10 唐山轨道客车有限责任公司 train door control method and device
CN103670114A (en) * 2013-11-25 2014-03-26 唐山轨道客车有限责任公司 Control method and device for train door
CN104340236A (en) * 2014-10-24 2015-02-11 北京交控科技有限公司 Automatic train operation (ATO) control system of straddle monorail train
CN104340236B (en) * 2014-10-24 2016-11-23 北京交控科技股份有限公司 The train automatic Pilot control system of straddle-type monorail train
CN104354728A (en) * 2014-11-03 2015-02-18 北京交控科技有限公司 Track traffic train monitoring system based on remote MMI (Man-Machine interface)
CN104503272A (en) * 2014-11-20 2015-04-08 北京交控科技有限公司 Automatic train driving system based on double-system hot standby redundancy
CN105774849A (en) * 2014-12-24 2016-07-20 上海申通轨道交通研究咨询有限公司 Train control method based on working condition
WO2017071465A1 (en) * 2015-10-29 2017-05-04 中车资阳机车有限公司 Unmanned freight transport system and transport method
CN105235714A (en) * 2015-10-29 2016-01-13 南车资阳机车有限公司 A driver-less goods transport system and transport method
CN105329266A (en) * 2015-10-30 2016-02-17 北京交控科技有限公司 Train starting and braking control method
CN105329266B (en) * 2015-10-30 2017-01-04 北京交控科技股份有限公司 Launch train brake control method
CN105480262A (en) * 2015-11-26 2016-04-13 北京交控科技股份有限公司 Linkage control system and method for full automatic driving
CN105480262B (en) * 2015-11-26 2017-04-12 交控科技股份有限公司 Linkage control system and method for full automatic driving
CN105955253A (en) * 2016-04-20 2016-09-21 郑州宇通客车股份有限公司 Method and system for controlling turn lights and vehicle doors of autonomous driving vehicle
CN106043309A (en) * 2016-06-27 2016-10-26 常州加美科技有限公司 Coping strategy for shifting driving patterns of unmanned vehicle
CN106394537A (en) * 2016-10-31 2017-02-15 中车株洲电力机车有限公司 Heavy haul train and control method and system of heavy haul train brake
CN106394537B (en) * 2016-10-31 2018-11-06 中车株洲电力机车有限公司 The control method and system of heavy haul train and heavy haul train brake
CN106697003A (en) * 2016-12-15 2017-05-24 天津交控科技有限公司 Rail vehicle brake fault safe handling method
CN106697003B (en) * 2016-12-15 2018-11-02 天津交控科技有限公司 Rail vehicle brake fault security processing
CN106828512A (en) * 2016-12-21 2017-06-13 吴中区穹窿山倪源交通器材经营部 A kind of train Unmanned Systems
CN107168198A (en) * 2017-05-12 2017-09-15 武汉理工大学 A kind of active intervention type method for controlling intelligent wheelchair and device
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CN107650951A (en) * 2017-10-30 2018-02-02 成都九壹通智能科技股份有限公司 A kind of subway train telesecurity monitoring management system
CN108609037A (en) * 2018-04-12 2018-10-02 浙江众合科技股份有限公司 A kind of automatic recurving control method of crewless train
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